An integrated parallel disassembly method for K6 bogie

Abstract

The invention discloses an integrated parallel disassembly method for a K6 bogie, comprising the following steps: S1. disassembling a first pillow spring and a second pillow spring; S2. disassembling a third pillow spring and a fourth pillow spring; S3. disassembling a left oblique wedge, a fifth pillow spring and a seventh pillow spring; S4. disassembling a right oblique wedge, a sixth pillow spring and a ninth pillow spring; S5. disassembling an eighth pillow spring; in view of the distribution characteristics of pillow springs and oblique wedges on a K6 bogie, the present invention designs a compact integrated quick disassembly device and a disassembly method suitable for the device, thereby realizing the integrated disassembly of pillow springs and oblique wedges; at the same time, by utilizing a double-spring bearing and side-thrust design, it can be applicable to a variety of different pillow spring distribution situations, quickly realize the disassembly of two groups of pillow springs, effectively reduce the overall time consumption of bogie disassembly work, and greatly improve the work rhythm and efficiency.

Description

Technical Field

[0001] The invention relates to a method for disassembling a bolster spring wedge of a railway train bogie, in particular to an integrated parallel disassembly method for a K6 bogie, and belongs to the technical field of train parts disassembly. Background Art

[0002] Bogies are the core components of railway vehicles, and their status directly affects the stability and safety of train travel. In order to maintain the safe operation of trains, it is essential to disassemble and overhaul bogies regularly. Although the automated system is applied to the bogie disassembly operation, the automated disassembly of the bolster spring and the cam is successfully realized, but these systems are still often coordinated by two sets of independent mechanisms responsible for the disassembly of the cam and the bolster spring to complete the disassembly task. For example, the patent document CN 113319564 A discloses a bolster spring disassembly robot and a bogie vibration reduction device disassembly system, in which the cam support robot drives two sets of cam support rods through the support holes at the bogie bolster position to enter the inside of the cam wedges on the left and right sides and lift the cam wedges to separate the cam wedges from the bottom bolster springs. The disassembly robot disassembles one bolster spring at a time and transfers it to the conveyor line until all bolster springs are disassembled and transferred. The cam disassembly plate on the disassembly robot is driven to the bottom space of the cam wedge. The cam support robot drives the cam support rod to exit the cam wedge, so that the cam wedge falls onto the cam disassembly plate. In this way, the disassembly of the bolster spring and the cam wedge on the bogie is realized. This method requires the use of an independent disassembly robot and an inclined wedge support robot to complete the bogie disassembly work, which is expensive and has high requirements for the working space; the disassembly process is divided into three parts: inclined wedge support, pillow spring disassembly and inclined wedge disassembly. Each process needs to be carried out sequentially and is basically independent of each other and difficult to integrate, resulting in a very long overall time consumption; and each time a pillow spring or an inclined wedge is disassembled, it needs to be transferred to other workstations, resulting in frequent transfers, which affects the disassembly rhythm. Summary of the invention

[0003] An integrated parallel disassembly method for a K6 bogie is provided, which uses an integrated parallel disassembly device and a control system, wherein the integrated parallel disassembly device comprises a disassembly device and an actuator; the disassembly device is mounted at the end of an actuator of the actuator; the disassembly device and the actuator operate under the control of a control system; the disassembly device comprises: a frame, and an inclined wedge lifting assembly, a first hook-down assembly of a pillow spring, a second hook-down assembly of a pillow spring, a connecting spring assembly, a first side thrust assembly and a second side thrust assembly mounted on the frame; the inclined wedge lifting assembly is arranged at the top of the frame, and is used to enter the interior of the bogie from the middle position of the bogie, lift the inclined wedge from the bottom of the secondary wear surface side of the inclined wedge and disassemble the transport inclined wedge; the first hook-down assembly of the pillow spring and the second hook-down assembly of the pillow spring are used to enter the bogie The frame hooks down the pillow spring in the bogie; the connecting spring assembly includes a first receiving position and a second receiving position, the first hooking assembly of the pillow spring is arranged above the first receiving position, and the second hooking assembly of the pillow spring is arranged above the second receiving position, and the first receiving position and the second receiving position can be moved forward and backward by a driving mechanism to extend into the bogie; the first receiving position is used to receive the pillow spring hooked down by the first hooking assembly of the pillow spring, and the second receiving position is used to receive the pillow spring hooked down by the second hooking assembly of the pillow spring; the first side thrust assembly is arranged on the side close to the first receiving position, and is used to push the pillow spring received by the first receiving position to the second receiving position; the second side thrust assembly is arranged on the side close to the second receiving position, and is used to push the pillow spring received by the second receiving position to the first receiving position;

[0004] The integrated parallel disassembly method comprises the following steps:

[0005] S1 Remove the first pillow spring and the second pillow spring;

[0006] Control the integrated parallel disassembly device to hook down the first pillow spring to the first receiving position, and hook down the second pillow spring to the second receiving position;

[0007] Controlling the integrated parallel disassembly device to move away from the bogie, driving the first pillow spring and the second pillow spring to be transferred to other connection stations;

[0008] S2 Remove the third and fourth pillow springs;

[0009] Control the integrated parallel disassembly device to hook down the third pillow spring to the second receiving position, and hook down the fourth pillow spring to the first receiving position;

[0010] Controlling the integrated parallel disassembly device to move away from the bogie, driving the third pillow spring and the fourth pillow spring to be transported to other connection stations;

[0011] S3 Remove the left bevel wedge, fifth bolster spring and seventh bolster spring;

[0012] Controlling the integrated parallel disassembly device to move so that the inclined wedge lifting assembly enters the interior of the bogie from the middle position of the bogie, and lifts the left inclined wedge from the bottom of the secondary wear surface side of the left inclined wedge until it is separated from the fifth pillow spring nested at the bottom thereof;

[0013] Control the first hooking assembly of the pillow spring to hook the fifth pillow spring to the first receiving position;

[0014] Controlling the first side thrust assembly to push the fifth pillow spring to the second receiving position;

[0015] Control the first hooking assembly of the pillow spring to hook the seventh pillow spring to the first receiving position;

[0016] Controlling the actuator to drive the inclined wedge lifting assembly to lower its position;

[0017] Controlling the integrated parallel disassembly device to move away from the bogie, driving the left inclined wedge, the fifth pillow spring and the seventh pillow spring to be transported to other connection stations;

[0018] S4 removes the right angled wedge, the sixth bolster spring and the ninth bolster spring;

[0019] Controlling the integrated parallel disassembly device to move so that the inclined wedge lifting assembly enters the interior of the bogie from the middle position of the bogie, and lifts the right inclined wedge from the bottom of the secondary wear surface side of the right inclined wedge until it is separated from the sixth pillow spring nested at the bottom thereof;

[0020] Control the second hooking assembly of the pillow spring to hook the sixth pillow spring to the second receiving position;

[0021] Controlling the second side thrust assembly to push the sixth pillow spring to the first receiving position;

[0022] Control the second hooking assembly of the pillow spring to hook the ninth pillow spring to the second receiving position,

[0023] Controlling the actuator to drive the inclined wedge lifting assembly to lower its position;

[0024] Controlling the integrated parallel disassembly device to move away from the bogie, driving the right inclined wedge, the sixth pillow spring and the ninth pillow spring to be transported to other docking stations;

[0025] S5 Remove the eighth pillow spring;

[0026] Control the integrated parallel disassembly device to hook down the eighth pillow spring to the second receiving position;

[0027] The integrated parallel disassembly device is controlled to be away from the bogie, and the eighth pillow spring is driven to be transported to other connection stations.

[0028] The inclined wedge lifting assembly includes: an inclined wedge lifting member, an inclined wedge linear pushing mechanism and a rotating mechanism; the end of the inclined wedge lifting member is a U-shaped structure, and the opening of the U-shaped structure faces one side; the inclined wedge lifting member is installed on the rotating mechanism, and rotates under the drive of the rotating mechanism to change the opening direction of the U-shaped structure, and the rotating mechanism is installed on the inclined wedge linear pushing mechanism, and the inclined wedge lifting member and the rotating mechanism move forward and backward under the drive of the inclined wedge linear pushing mechanism.

[0029] In the step S3, the integrated parallel disassembly device is controlled to move so that the inclined wedge lifting assembly enters the interior of the bogie from the middle position of the bogie, and lifts the left inclined wedge from the bottom of the secondary wearing surface side of the left inclined wedge until the fifth pillow spring nested at the bottom thereof is separated, which includes the following steps:

[0030] Sa1 The control system obtains the information of the current wedge to be removed,

[0031] Sa2 The control system controls the rotation of the rotating mechanism of the inclined wedge lifting assembly to control the opening of the U-shaped structure of the inclined wedge lifting member to face the left inclined wedge to be removed;

[0032] Sa3 The control system controls the actuator to drive the disassembly device to move to the left inclined wedge disassembly standard posture I, and the inclined wedge lifting member faces the middle position of the bogie;

[0033] Sa4 The control system controls the inclined wedge linear pushing mechanism to move forward, driving the inclined wedge lifting member to extend into the middle empty space inside the bogie to reach the left inclined wedge disassembly standard posture II, at which time the opening of the U-shaped structure of the inclined wedge lifting member faces the side of the left inclined wedge, and the upper surface of the U-shaped structure is slightly lower than the groove surface at the bottom of the left inclined wedge;

[0034] Sa5: the control system controls the actuator to move the inclined wedge lifting member from the side toward the left inclined wedge to reach the left inclined wedge disassembly standard posture III, at which the U-shaped structure of the inclined wedge lifting member contacts the groove surface at the bottom of the left inclined wedge;

[0035] Sa6 The control system controls the actuator to move upward, and lifts the left inclined wedge through the inclined wedge lifting member, so that the left inclined wedge is separated from the fifth pillow spring nested at the bottom;

[0036] The left-slanted wedge disassembly standard posture I, the left-slanted wedge disassembly standard posture II and the left-slanted wedge disassembly standard posture III constitute a left-slanted wedge standard disassembly posture set.

[0037] The step S1 of disassembling the first pillow spring and the second pillow spring specifically includes the following method:

[0038] S1.1 The control system obtains information of the first pillow spring and the second pillow spring to be removed;

[0039] S1.2 The control system controls the actuator to drive the disassembly device to a standard disassembly posture corresponding to the first pillow spring and the second pillow spring to be disassembled, so that the first receiving position is aligned with the first pillow spring to be disassembled, and the second receiving position is aligned with the second pillow spring to be disassembled;

[0040] S1.3 The control system controls the spring assembly to move to the first row of pillow spring receiving positions where the first pillow spring and the second pillow spring to be removed are located;

[0041] S1.4 The control system controls the first hooking assembly of the pillow spring and the second hooking assembly of the pillow spring to extend to the hooking positions of the first pillow spring and the second pillow spring to be disassembled, respectively, and synchronously hooks the first pillow spring and the second pillow spring, the first receiving position receives the hooked first pillow spring, and the second receiving position receives the hooked second pillow spring;

[0042] S1.5 The control system controls the spring assembly to be retracted to the waiting position of the disassembly device;

[0043] S1.6 The control system controls the actuator to drive the disassembly device away from the bogie, and drives the first pillow spring and the second pillow spring carried by the connecting spring assembly to be transported to other connecting stations.

[0044] The step S2 of disassembling the third pillow spring and the fourth pillow spring specifically includes the following method:

[0045] S2.1 the control system obtains information of the third pillow spring and the fourth pillow spring to be removed;

[0046] S2.2 The control system controls the actuator to drive the disassembly device to a standard disassembly posture corresponding to the third pillow spring and the fourth pillow spring to be disassembled, so that the first receiving position is aligned with the fourth pillow spring to be disassembled, and the second receiving position is aligned with the third pillow spring to be disassembled;

[0047] S2.3 The control system controls the spring assembly to move to the first row of pillow spring receiving positions where the third pillow spring to be removed is located;

[0048] S2.4 the control system controls the second hooking assembly of the pillow spring to extend to the hooking position of the third pillow spring to be disassembled, hooks the third pillow spring, and the second receiving position receives the hooked third pillow spring;

[0049] S2.5 The control system controls the spring assembly to move to the second row of pillow spring receiving position where the fourth pillow spring to be removed is located;

[0050] S2.6 The control system controls the first hooking assembly of the pillow spring to extend to the hooking position of the fourth pillow spring to be disassembled, hooking the fourth pillow spring, and the first receiving position receives the hooked fourth pillow spring;

[0051] S2.7 The control system controls the spring assembly to be retracted to the waiting position of the disassembly device;

[0052] S2.8 The control system controls the actuator to drive the disassembly device away from the bogie, and drives the third pillow spring and the fourth pillow spring carried by the connecting spring assembly to be transported to other connecting stations.

[0053] The step S3 of disassembling the left inclined wedge, the fifth pillow spring and the seventh pillow spring specifically includes the following method:

[0054] S3.1 Control the integrated parallel disassembly device to move so that the inclined wedge lifting assembly enters the interior of the bogie from the middle position of the bogie, and lifts the left inclined wedge from the bottom of the secondary wearing surface side of the left inclined wedge until it is separated from the fifth pillow spring nested at the bottom thereof;

[0055] S3.2 the control system obtains information of the fifth pillow spring and the seventh pillow spring to be removed;

[0056] S3.3 The control system controls the spring assembly to move to the second row of pillow spring receiving position where the fifth pillow spring to be removed is located;

[0057] S3.4 the control system controls the first hooking assembly of the pillow spring to extend to the hooking position of the fifth pillow spring to be disassembled, hooking the fifth pillow spring, and the first receiving position receives the hooked fifth pillow spring;

[0058] S3.5 The control system controls the spring assembly to be retracted to the waiting position of the disassembly device;

[0059] S3.6 The control system controls the first side thrust assembly to push the fifth pillow spring from the first receiving position to the second receiving position;

[0060] S3.7 The control system controls the spring assembly to move to the third row of pillow spring receiving positions where the seventh pillow spring to be removed is located;

[0061] S3.8 Control the first hooking assembly of the pillow spring to extend to the hooking position of the seventh pillow spring to be removed, hook the seventh pillow spring, and the first receiving position receives the hooked seventh pillow spring;

[0062] S3.9 The control system controls the spring assembly to be retracted to the waiting position of the disassembly device;

[0063] S3.10 The control system controls the actuator to drive the inclined wedge lifting member to lower its position, and remove the left inclined wedge from the bolster groove;

[0064] S3.11 The control system controls the actuator to drive the disassembly device away from the bogie, and drives the left inclined wedge, the fifth pillow spring and the seventh pillow spring to be transported to other docking stations.

[0065] The pillow spring first hook-down assembly is composed of a pillow spring hook-down mechanism and a pillow spring linear push mechanism; the pillow spring hook-down mechanism is installed on the pillow spring linear push mechanism and moves back and forth driven by the pillow spring linear push mechanism.

[0066] The connecting spring assembly is composed of an integrated connecting mechanism composed of the first connecting position and the second connecting position and a connecting spring linear driving mechanism. The integrated connecting mechanism is installed on the connecting spring linear driving mechanism and moves forward and backward in and out of the bogie under the drive of the connecting spring linear driving mechanism.

[0067] The first side-pushing assembly comprises a pushing mechanism and a side-pushing module. The side-pushing module is connected to the pushing mechanism and moves left and right under the pushing of the pushing mechanism.

[0068] A camera is also installed at the front end of the frame, and the camera is used to collect the posture information of the bogie, calculate the posture difference of the bogie through recognition and positioning software, and then control the actuator to be disassembled in a standard disassembly posture relative to the bogie.

[0069] The present invention provides an integrated parallel disassembly method of the K6 bogie in view of the distribution characteristics of the pillow springs and the inclined wedges on the K6 bogie, designs a compact integrated quick disassembly device and a disassembly method suitable for the device. The device provided by the present invention integrates the three functions of inclined wedge support, pillow spring disassembly and inclined wedge disassembly into one, realizing the integrated disassembly of pillow springs and inclined wedges; at the same time, by using the double spring bearing and side push design, it can be applied to a variety of different pillow spring distribution situations, and quickly realize the disassembly of two groups of pillow springs; the present invention first disassembles the first row of pillow springs and the second row of middle pillow springs, and runs two groups of pillow springs to the docking station at a time. For the remaining two groups of pillow springs in each edge column, the inclined wedge is lifted from the bottom of the auxiliary wear surface side of the inclined wedge, and the second row of pillow springs and the third row of pillow springs are taken out in turn, and then the inclined wedge position is lowered, and the inclined wedge is taken out. One inclined wedge and two groups of pillow springs are transported in a single docking, and finally the remaining group of pillow springs on the bogie are taken out. The disassembly device and method provided by the present invention can effectively reduce the overall time consumption of bogie disassembly work, and reduce the number of connection times of the K6 bogie from 11 times (9 times of connection of pillow springs and 2 times of connection of wedges) to 5 times, thereby greatly improving the work rhythm and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 It is a schematic diagram of the process of the present invention;

[0071] Figure 2 It is a schematic diagram of the distribution of pillow springs on the K6 model bogie in the present invention;

[0072] Figure 3 It is a structural schematic diagram of the integrated parallel disassembly device in the present invention;

[0073] Figure 4 It is a structural schematic diagram of the disassembly device 1 in the present invention;

[0074] Figure 5 It is a schematic structural diagram of the inclined wedge lifting assembly 12 in the present invention;

[0075] Figure 6 It is a structural schematic diagram of the first hook component 13 of the pillow spring in the present invention;

[0076] Figure 7 It is a structural schematic diagram of the spring assembly 15 in the present invention;

[0077] Figure 8 It is a schematic structural diagram of the first side thrust assembly 16 in the present invention. Specific embodiments

[0078] In order to make the above-mentioned objects, features and advantages of the present application more obvious and easy to understand, the present application is further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0079] Example 1

[0080] An integrated parallel disassembly method for a K6 bogie, such as Figure 1 As shown, the following steps are included:

[0081] S1: disassembling the first pillow spring 31 and the second pillow spring 32;

[0082] S2: disassembling the third pillow spring 33 and the fourth pillow spring 34;

[0083] S3: disassembling the left inclined wedge 41, the fifth pillow spring 35 and the seventh pillow spring 37;

[0084] S4: disassembling the right inclined wedge 42, the sixth pillow spring 36 and the ninth pillow spring 39;

[0085] S5: Remove the eighth pillow spring 38.

[0086] There are 9 sets of pillow springs and 2 sets of wedges on the K6 bogie, as shown in the figure below: Figure 2 The pillow springs from outside to inside include the first pillow spring 31, the second pillow spring 32, and the third pillow spring 33 on the first row, the fourth pillow spring 34, the fifth pillow spring 35, and the sixth pillow spring 36 on the second row, and the seventh pillow spring 37, the eighth pillow spring 38, and the ninth pillow spring 39 on the third row.

[0087] The left inclined wedge 41 is located above the fifth pillow spring 35 , the right inclined wedge 42 is located above the sixth pillow spring 36 , the fifth pillow spring 35 is nested below the left inclined wedge 41 , and the sixth pillow spring 36 is nested below the right inclined wedge 42 .

[0088] An integrated parallel disassembly device and control system are used to disassemble the K6 bogie. Figure 3 As shown, the integrated parallel disassembly device comprises a disassembly device 1 and an actuator 2; the disassembly device 1 is installed at the end of the actuator of the actuator 2; the disassembly device 1 and the actuator 2 operate under the control of the control system.

[0089] The actuator 2 may be a robot arm or a robot hand.

[0090] Disassembly device 1, such as Figure 4 As shown, it includes: a frame 11, and a wedge lifting assembly 12, a pillow spring first hook assembly 13, a pillow spring second hook assembly 14, a connecting spring assembly 15, a first side thrust assembly 16 and a second side thrust assembly 17 installed on the frame 11; the disassembly device 1 is installed on the actuator 2 through the frame 11.

[0091] The inclined wedge lifting assembly 12 is arranged on the top of the frame 11, and is used to enter the interior of the bogie from the middle position of the bogie, lift the inclined wedge from the bottom of the secondary wearing surface side of the inclined wedge, and disassemble and transport the inclined wedge; the first pillow spring hooking assembly 13 and the second pillow spring hooking assembly 14 are used to enter the interior of the bogie to hook the pillow spring in the bogie, and the two are symmetrically installed inside the frame 11 through the first mounting seat and the second mounting seat respectively.

[0092] The connecting spring assembly 15 includes a first receiving position 151 and a second receiving position 152. The first hooking assembly 13 of the pillow spring is arranged above the first receiving position 151, and the second hooking assembly 14 of the pillow spring is arranged above the second receiving position 152. The first receiving position 151 and the second receiving position 152 can be moved forward and backward by a driving mechanism to extend into the interior of the bogie; the first receiving position 151 is used to receive the pillow spring hooked by the first hooking assembly 13 of the pillow spring, and the second receiving position 152 is used to receive the pillow spring hooked by the second hooking assembly 14 of the pillow spring.

[0093] The first side thrust assembly 16 is disposed near the first receiving position 151 and is used for pushing the pillow spring received by the first receiving position 151 to the second receiving position 152; the second side thrust assembly 17 is disposed near the second receiving position 152 and is used for pushing the pillow spring received by the second receiving position 152 to the first receiving position 151.

[0094] The integrated parallel disassembly method of the K6 bogie includes the following steps:

[0095] S1: disassembling the first pillow spring 31 and the second pillow spring 32;

[0096] Control the integrated parallel disassembly device to hook down the first pillow spring 31 to the first receiving position 151, and hook down the second pillow spring 32 to the second receiving position 152;

[0097] Control the integrated parallel disassembly device to move away from the bogie, and drive the first pillow spring 31 and the second pillow spring 32 to be transported to other connection stations;

[0098] S2: disassembling the third pillow spring 33 and the fourth pillow spring 34;

[0099] Control the integrated parallel disassembly device to hook down the third pillow spring 33 to the second receiving position 152, and hook down the fourth pillow spring 34 to the first receiving position 151;

[0100] Control the integrated parallel disassembly device to move away from the bogie, and drive the third pillow spring 33 and the fourth pillow spring 34 to be transported to other connection stations;

[0101] The third pillow spring 33 and the fourth pillow spring 34 are removed to leave a middle space so that the cam lifting assembly 12 can contact and lift the cam from the bottom of the secondary wear surface side of the cam;

[0102] S3: disassembling the left inclined wedge 41, the fifth pillow spring 35 and the seventh pillow spring 37;

[0103] Control the integrated parallel disassembly device to move so that the inclined wedge lifting assembly 12 enters the interior of the bogie from the middle position of the bogie, and lifts the left inclined wedge 41 from the bottom of the secondary wear surface side of the left inclined wedge 41 until it is separated from the fifth pillow spring 35 nested at the bottom thereof;

[0104] Control the first hooking assembly 13 of the pillow spring to hook the fifth pillow spring 35 to the first receiving position 151;

[0105] Control the first side thrust assembly 16 to push the fifth pillow spring 35 to the second receiving position 152;

[0106] Control the first hooking assembly 13 of the pillow spring to hook the seventh pillow spring 37 to the first receiving position 151;

[0107] Control the actuator 2 to drive the inclined wedge lifting assembly 12 to lower its position;

[0108] Control the integrated parallel disassembly device to move away from the bogie, and drive the left inclined wedge 41, the fifth pillow spring 35 and the seventh pillow spring 37 to be transported to other connection stations;

[0109] S4: Remove the right inclined wedge 42, the sixth pillow spring 36 and the ninth pillow spring 39;

[0110] Control the integrated parallel disassembly device to move so that the cam lifting assembly 12 enters the interior of the bogie from the middle position of the bogie, and lifts the right cam 42 from the bottom of the secondary wear surface side of the right cam 42 to separate from the sixth pillow spring 36 nested at the bottom thereof;

[0111] Control the second hooking assembly 14 of the pillow spring to hook the sixth pillow spring 36 to the second receiving position 152;

[0112] Control the second side thrust assembly 17 to push the sixth pillow spring 36 to the first receiving position 151;

[0113] The second hooking component 14 of the control pillow spring hooks the ninth pillow spring 39 to the second receiving position 152,

[0114] Control the actuator 2 to drive the inclined wedge lifting assembly 12 to lower its position;

[0115] Control the integrated parallel disassembly device to move away from the bogie, and drive the right inclined wedge 42, the sixth pillow spring 36 and the ninth pillow spring 39 to be transported to other connection stations;

[0116] S5: removing the eighth pillow spring 38;

[0117] Control the integrated parallel disassembly device to hook the eighth pillow spring 38 to the second receiving position 152;

[0118] The integrated parallel disassembly device is controlled to be away from the bogie, and the eighth pillow spring 38 is driven to be transported to other connection stations.

[0119] Example 2

[0120] On the basis of Example 1, the inclined wedge lifting assembly 12 adopts Figure 5 The structure shown includes: an inclined wedge lifting member 121, an inclined wedge linear pushing mechanism 122 and a rotating mechanism 123; the end of the inclined wedge lifting member 121 is a U-shaped structure, and the opening of the U-shaped structure faces one side; the inclined wedge lifting member 121 is installed on the rotating mechanism 123, and rotates under the drive of the rotating mechanism 123 to change the opening direction of the U-shaped structure, and the rotating mechanism 123 is installed on the inclined wedge linear pushing mechanism 122, and the inclined wedge lifting member 121 and the rotating mechanism 123 move forward and backward under the drive of the inclined wedge linear pushing mechanism 122.

[0121] Specifically, the inclined wedge linear pushing mechanism 122 is installed on the frame 11; the inclined wedge lifting member 121 is connected to the slewing bearing 1231 of the rotating mechanism 123, and rotates driven by the rotating mechanism 123; the rotating mechanism 123 is fixedly connected to the mounting block 124, and is installed on the inclined wedge linear pushing mechanism 122 through the mounting block 124.

[0122] Example 3

[0123] On the basis of Example 2, in step S3, the integrated parallel disassembly device is controlled to move so that the inclined wedge lifting assembly 12 enters the interior of the bogie from the middle position of the bogie, and lifts the left inclined wedge 41 from the bottom of the secondary wear surface side of the left inclined wedge 41 to separate from the fifth pillow spring 35 nested at the bottom thereof, which includes the following steps:

[0124] Sa1 The control system obtains the information of the current wedge to be removed.

[0125] Sa2 The control system controls the rotation of the rotating mechanism 123 of the inclined wedge lifting assembly 12 to control the opening of the U-shaped structure of the inclined wedge lifting member 121 to face the left inclined wedge 41 to be removed;

[0126] Sa3 control system controls the actuator 2 to drive the disassembly device 1 to move to the left inclined wedge disassembly standard posture I, and the inclined wedge lifting member 121 faces the middle position of the bogie;

[0127] The Sa4 control system controls the inclined wedge linear push mechanism 122 to move forward, driving the inclined wedge lifting member 121 to extend into the middle space inside the bogie, and reaches the left inclined wedge disassembly standard posture II. At this time, the opening of the U-shaped structure of the inclined wedge lifting member 121 faces the side of the left inclined wedge 41, and the upper surface of the U-shaped structure is slightly lower than the bottom groove surface of the left inclined wedge 41;

[0128] The Sa5 control system controls the actuator 2 to move the inclined wedge lifting member 121 from the side toward the left inclined wedge 41 to reach the left inclined wedge disassembly standard posture III, at which time the U-shaped structure of the inclined wedge lifting member 121 contacts the bottom groove surface of the left inclined wedge 41;

[0129] Sa6 The control system controls the actuator 2 to move upward, and lifts the left inclined wedge 41 through the inclined wedge lifting member 121, so that the left inclined wedge 41 is separated from the fifth pillow spring 35 nested at the bottom;

[0130] The left-slanted wedge disassembly standard posture I, the left-slanted wedge disassembly standard posture II and the left-slanted wedge disassembly standard posture III constitute the left-slanted wedge standard disassembly posture set.

[0131] In step S4, the integrated parallel disassembly device is controlled to move so that the inclined wedge lifting assembly 12 enters the interior of the bogie from the middle position of the bogie, and lifts the right inclined wedge 42 from the bottom of the secondary wear surface side of the right inclined wedge 42 to separate from the sixth pillow spring 36 nested at the bottom thereof, using a method similar to step S3, specifically as follows:

[0132] The Sb1 control system obtains the information of the current cam to be removed.

[0133] Sb2 The control system controls the rotation of the rotating mechanism 123 of the inclined wedge lifting assembly 12 to control the opening of the U-shaped structure of the inclined wedge lifting member 121 to face the right inclined wedge 42 to be removed;

[0134] Sb3 control system controls the actuator 2 to drive the disassembly device 1 to move to the right wedge disassembly standard posture I, with the wedge lifting member 121 facing the middle position of the bogie;

[0135] The Sb4 control system controls the inclined wedge linear push mechanism 122 to move forward, driving the inclined wedge lifting member 121 to extend into the middle space inside the bogie to reach the right inclined wedge disassembly standard posture II. At this time, the opening of the U-shaped structure of the inclined wedge lifting member 121 faces the side of the right inclined wedge 42, and the upper surface of the U-shaped structure is slightly lower than the bottom groove surface of the right inclined wedge 42;

[0136] The Sb5 control system controls the actuator 2 to move the inclined wedge lifting member 121 from the side toward the right inclined wedge 42 to reach the right inclined wedge disassembly standard posture III, at which time the U-shaped structure of the inclined wedge lifting member 121 contacts the bottom groove surface of the right inclined wedge 42;

[0137] Sb6 The control system controls the actuator 2 to move upward, and lifts the right inclined wedge 42 through the inclined wedge lifting member 121, so that the right inclined wedge 42 is separated from the sixth pillow spring 36 nested at the bottom;

[0138] The right oblique wedge disassembly standard posture I, the right oblique wedge disassembly standard posture II and the right oblique wedge disassembly standard posture III constitute the right oblique wedge standard disassembly posture set.

[0139] Step S3 removes the left inclined wedge 41, the fifth pillow spring 35 and the seventh pillow spring 37, specifically including the following method:

[0140] S3.1 Control the integrated parallel disassembly device to move, so that the inclined wedge lifting assembly 12 enters the interior of the bogie from the middle position of the bogie, and lifts the left inclined wedge 41 from the bottom of the secondary wear surface side of the left inclined wedge 41 until it is separated from the fifth pillow spring 35 embedded at the bottom thereof;

[0141] S3.2 The control system obtains information about the fifth pillow spring 35 and the seventh pillow spring 37 to be removed;

[0142] S3.3 The control system controls the connecting spring assembly 15 to move to the second row of pillow spring receiving positions where the fifth pillow spring 35 to be removed is located;

[0143] S3.4 The control system controls the first hooking assembly 13 of the pillow spring to extend to the hooking position of the fifth pillow spring 35 to be removed, hooking the fifth pillow spring 35, and the first receiving position 151 receives the hooked fifth pillow spring 35;

[0144] S3.5 The control system controls the spring assembly 15 to be retracted to the waiting position of the disassembly device 1;

[0145] S3.6 The control system controls the first side thrust assembly 16 to push the fifth pillow spring 35 from the first receiving position 151 to the second receiving position 152;

[0146] S3.7 The control system controls the connecting spring assembly 15 to move to the third row of pillow spring receiving positions where the seventh pillow spring 37 to be removed is located;

[0147] S3.8 Control the first hooking assembly 13 of the pillow spring to extend to the hooking position of the seventh pillow spring 37 to be removed, hook the seventh pillow spring 37, and the first receiving position 151 receives the hooked seventh pillow spring 37;

[0148] S3.9 The control system controls the spring assembly 15 to be retracted to the waiting position of the disassembly device 1;

[0149] S3.10 The control system controls the actuator 2 to drive the inclined wedge lifting member 121 to lower its position, and remove the left inclined wedge 41 from the bolster groove;

[0150] S3.11 The control system controls the actuator 2 to drive the disassembly device 1 away from the bogie, and drives the left inclined wedge 41, the fifth pillow spring 35 and the seventh pillow spring 37 to be transported to other connection stations.

[0151] Step S4 removes the right inclined wedge 42, the sixth pillow spring 36 and the ninth pillow spring 39, specifically including the following method:

[0152] S4.1 Control the integrated parallel disassembly device to move, so that the cam lifting assembly 12 enters the interior of the bogie from the middle position of the bogie, and lifts the right cam 42 from the bottom of the secondary wear surface side of the right cam 42 to separate from the sixth pillow spring 36 nested at the bottom thereof;

[0153] S4.2 The control system obtains information about the sixth pillow spring 36 and the ninth pillow spring 39 to be removed;

[0154] S4.3 The control system controls the connecting spring assembly 15 to move to the second row of pillow spring receiving positions where the sixth pillow spring 36 to be removed is located;

[0155] S4.4 The control system controls the second hooking assembly 14 of the pillow spring to extend to the hooking position of the sixth pillow spring 36 to be removed, hooking the sixth pillow spring 36, and the second receiving position 152 receives the hooked sixth pillow spring 36;

[0156] S4.5 The control system controls the spring assembly 15 to be retracted to the waiting position of the disassembly device 1;

[0157] S4.6 The control system controls the second side thrust assembly 17 to push the sixth pillow spring 36 from the second receiving position 152 to the first receiving position 151;

[0158] S4.7 The control system controls the connecting spring assembly 15 to move to the third row of pillow spring receiving positions where the ninth pillow spring 39 to be removed is located;

[0159] S4.8 Control the second hooking assembly 14 of the pillow spring to extend to the hooking position of the ninth pillow spring 39 to be removed, hook the ninth pillow spring 39, and the second receiving position 152 receives the hooked ninth pillow spring 39;

[0160] S4.9 The control system controls the spring assembly 15 to be retracted to the waiting position of the disassembly device 1;

[0161] S3.10 The control system controls the actuator 2 to drive the inclined wedge lifting member 121 to lower its position, and remove the right inclined wedge 42 from the bolster groove;

[0162] S4.10 The control system controls the actuator 2 to drive the disassembly device 1 away from the bogie, and drives the sixth pillow spring 36 and the ninth pillow spring 39 received by the connecting spring assembly 15 to be transferred to other connecting stations.

[0163] Example 4

[0164] On the basis of Example 1, step S1 specifically comprises the following method:

[0165] S1.1 The control system obtains information of the first pillow spring 31 and the second pillow spring 32 to be removed;

[0166] S1.2 The control system controls the actuator 2 to drive the disassembly device 1 to a standard disassembly posture corresponding to the first pillow spring 31 and the second pillow spring 32 to be disassembled, so that the first receiving position 151 is aligned with the first pillow spring 31 to be disassembled, and the second receiving position 152 is aligned with the second pillow spring 32 to be disassembled;

[0167] S1.3 The control system controls the connecting spring assembly 15 to move to the first row of pillow spring receiving positions where the first pillow spring 31 and the second pillow spring 32 to be removed are located;

[0168] S1.4 The control system controls the first hooking assembly 13 and the second hooking assembly 14 of the pillow spring to extend to the hooking positions of the first pillow spring 31 and the second pillow spring 32 to be disassembled, respectively, and synchronously hooks the first pillow spring 31 and the second pillow spring 32, the first receiving position 151 receives the hooked first pillow spring 31, and the second receiving position 152 receives the hooked second pillow spring 32;

[0169] S1.5 The control system controls the spring assembly 15 to be retracted to the waiting position of the disassembly device 1;

[0170] S1.6 The control system controls the actuator 2 to drive the disassembly device 1 away from the bogie, and drives the first pillow spring 31 and the second pillow spring 32 carried by the connecting spring assembly 15 to be transported to other connecting stations.

[0171] Step S2 specifically includes the following methods:

[0172] S2.1 The control system obtains information about the third pillow spring 33 and the fourth pillow spring 34 to be removed;

[0173] S2.2 The control system controls the actuator 2 to drive the disassembly device 1 to a standard disassembly posture corresponding to the third pillow spring 33 and the fourth pillow spring 34 to be disassembled, so that the first receiving position 151 is aligned with the fourth pillow spring 34 to be disassembled, and the second receiving position 152 is aligned with the third pillow spring 33 to be disassembled;

[0174] S2.3 The control system controls the connecting spring assembly 15 to move to the first row of pillow spring receiving positions where the third pillow spring 33 to be removed is located;

[0175] S2.4 The control system controls the second hooking assembly 14 of the pillow spring to extend to the hooking position of the third pillow spring 33 to be removed, hooks the third pillow spring 33, and the second receiving position 152 receives the hooked third pillow spring 33;

[0176] S2.5 The control system controls the connecting spring assembly 15 to move to the second row of pillow spring receiving positions where the fourth pillow spring 34 to be removed is located;

[0177] S2.6 The control system controls the first hooking assembly 13 of the pillow spring to extend to the hooking position of the fourth pillow spring 34 to be removed, hooking the fourth pillow spring 34, and the first receiving position 151 receives the hooked fourth pillow spring 34;

[0178] S2.7 The control system controls the spring assembly 15 to be retracted to the waiting position of the disassembly device 1;

[0179] S2.8 The control system controls the actuator 2 to drive the disassembly device 1 away from the bogie, and drives the third pillow spring 33 and the fourth pillow spring 34 received by the connecting spring assembly 15 to be transported to other connecting stations.

[0180] Step S5 specifically includes the following methods:

[0181] S5.1 The control system obtains information of the eighth pillow spring 38 to be removed;

[0182] S5.2 The control system controls the actuator 2 to drive the disassembly device 1 to a standard disassembly posture corresponding to the eighth pillow spring 38 to be disassembled, so that the second receiving position 152 is aligned with the eighth pillow spring 38 to be disassembled;

[0183] S5.3 The control system controls the connecting spring assembly 15 to move to the third row of pillow spring receiving positions where the eighth pillow spring 38 to be removed is located;

[0184] S5.4 The control system controls the second hooking assembly 14 of the pillow spring to extend to the hooking position of the eighth pillow spring 38 to be removed, hooking the eighth pillow spring 38, and the second receiving position 152 receives the hooked eighth pillow spring 38;

[0185] S5.5 The control system controls the spring assembly 15 to be retracted to the waiting position of the disassembly device 1;

[0186] S5.6 The control system controls the actuator 2 to drive the disassembly device 1 away from the bogie, and drives the eighth pillow spring 38 received by the connecting spring assembly 15 to be transported to other connecting stations.

[0187] When removing the eighth pillow spring 38, there is only the eighth pillow spring 38 in the bogie, so the standard disassembly posture of the eighth pillow spring 38 can also be to align the first receiving position 151 with the eighth pillow spring 38 to be removed; then control the pillow spring first hooking assembly 13 to extend to the hooking position of the eighth pillow spring 38 to be removed, hook the eighth pillow spring 38, and the first receiving position 151 receives the hooked eighth pillow spring 38.

[0188] Example 5

[0189] A specific embodiment of the pillow spring first hook component 13 is provided, such as Figure 6As shown, it is composed of a pillow spring hooking mechanism 131 and a pillow spring linear pushing mechanism 132; the pillow spring linear pushing mechanism 132 is installed on the first mounting seat, and the pillow spring linear pushing mechanism 132 can adopt a linear module; the pillow spring hooking mechanism 131 is installed on the pillow spring linear pushing mechanism 132, and moves back and forth under the drive of the pillow spring linear pushing mechanism 132.

[0190] The pillow spring hook mechanism 131 is composed of a lever and a finger mounted on the lever.

[0191] The second hook component 14 of the pillow spring can adopt the same or similar structure as the first hook component 13 of the pillow spring, and the two are symmetrically distributed.

[0192] A specific embodiment of a spring assembly 15 is provided, such as Figure 7 As shown, the connecting spring assembly 15 is composed of an integrated receiving mechanism consisting of a first receiving position 151 and a second receiving position 152, and a connecting spring linear driving mechanism 153. The connecting spring linear driving mechanism 153 is installed on the frame 11 and can adopt a linear module; the integrated receiving mechanism is installed on the connecting spring linear driving mechanism 153, and moves forward and backward in and out of the bogie under the drive of the connecting spring linear driving mechanism 153.

[0193] A specific embodiment of a first side thrust assembly 16 is provided, such as Figure 8 As shown, it includes a pushing mechanism 161 and a side-pushing module 162, wherein the pushing mechanism 161 can adopt a pushing cylinder, and the pushing mechanism 161 is installed on the frame 11 through a side-pushing fixing plate 163; one end of the side-pushing module 162 is used to contact the side surface of the pillow spring supported on the spring assembly 15, and the other end is connected to the pushing mechanism 161 through a side-pushing adapter plate 164. The side-pushing module 162 moves left and right under the push of the pushing mechanism 161.

[0194] The side-pushing module 162 can adopt a V-shaped push block, which is used to contact the side surface of the pillow spring hooked to the receiving position. Since the side surface of the pillow spring is arc-shaped, the use of a V-shaped push block can increase the contact area with the side surface of the pillow spring, thereby improving stability and safety during the side-pushing process.

[0195] The second side-pushing assembly 17 may have the same or similar structure as the first side-pushing assembly 16 , and the two are symmetrically distributed on both sides of the front end of the frame 11 .

[0196] Example 6

[0197] Based on the above embodiment, a camera 18 is also installed at the front end of the frame 11. The camera 18 is used to collect the posture information of the bogie, calculate the posture difference of the bogie through recognition and positioning software, and then control the actuator 2 to be disassembled in a standard disassembly posture relative to the bogie.

[0198] Before formal disassembly, the standard disassembly posture of the pillow spring and wedge in each different position is generally taught first. Then, after the position of the bogie is fixed each time, the camera collects the posture information of the bogie and adjusts the robot posture to the standard disassembly posture based on the posture result.

[0199] It should be noted that the standard disassembly posture does not correspond to a certain disassembly posture value. Each pillow spring or wedge in different position has its own standard disassembly posture.

[0200] In view of the distribution characteristics of pillow springs and inclined wedges on the K6 bogie, the present invention provides an integrated parallel disassembly method for the K6 bogie. First, the first row of pillow springs and the second row of middle pillow springs are disassembled and transported. Two groups of pillow springs are operated at a single time to refer to the docking station. For the remaining two groups of pillow springs in each edge row, the inclined wedge is lifted by utilizing the integrated inclined wedge lifting design, and then the middle row of pillow springs and the last row of pillow springs are taken out in turn. One inclined wedge and two groups of pillow springs can be transported in a single connection. By adopting the disassembly method provided by the present invention, the number of docking times of the K6 bogie can be reduced from 11 times (9 pillow springs and 2 inclined wedges) to 5 times, thereby greatly improving the working efficiency.

[0201] In addition, it should be understood that the above embodiments only express several implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. An integrated parallel disassembly method for a K6 bogie, characterized in that: An integrated parallel disassembly device and a control system are used, the integrated parallel disassembly device comprising a disassembly device (1) and an actuator (2); the disassembly device (1) is mounted at the end of an actuator of the actuator (2); the disassembly device (1) and the actuator (2) operate under the control of a control system; the disassembly device comprises: a frame (11), and a slant wedge lifting assembly (12), a first pillow spring hooking assembly (13), a second pillow spring hooking assembly (14), a connecting spring assembly (15), a first side thrust assembly (16) and a second side thrust assembly (17) mounted on the frame (11); the slant wedge lifting assembly (12) is arranged at the top of the frame (11) and is used to enter the interior of the bogie from the middle position of the bogie, lift the slant wedge from the bottom of the secondary wear surface side of the slant wedge and disassemble the transport slant wedge; the first pillow spring hooking assembly (13) and the second pillow spring hooking assembly (14) are used to enter the interior of the bogie and hook the pillow spring in the bogie; the connecting spring assembly (15) comprises a first side thrust assembly (16) and a second side thrust assembly (17) The first receiving position (151) and the second receiving position (152) are configured such that the first hooking assembly (13) of the pillow spring is arranged above the first receiving position (151), and the second hooking assembly (14) of the pillow spring is arranged above the second receiving position (152). The first receiving position (151) and the second receiving position (152) can be moved forward and backward by a driving mechanism and extend into the interior of the bogie; the first receiving position (151) is used to receive the pillow spring hooked by the first hooking assembly (13) of the pillow spring, and the second hooking assembly (14) of the pillow spring is arranged above the second receiving position (152). The second receiving position (152) is used to receive the pillow spring hooked by the pillow spring second hooking assembly (14); the first side pushing assembly (16) is arranged on the side close to the first receiving position (151) and is used to push the pillow spring received by the first receiving position (151) to the second receiving position (152); the second side pushing assembly (17) is arranged on the side close to the second receiving position (152) and is used to push the pillow spring received by the second receiving position (152) to the first receiving position (151); The integrated parallel disassembly method comprises the following steps: S1: disassembling the first pillow spring (31) and the second pillow spring (32); Controlling the integrated parallel disassembly device to hook down the first pillow spring (31) to the first receiving position (151), and hook down the second pillow spring (32) to the second receiving position (152); Controlling the integrated parallel disassembly device to move away from the bogie, driving the first pillow spring (31) and the second pillow spring (32) to be transported to other connection stations; S2: remove the third pillow spring (33) and the fourth pillow spring (34); Controlling the integrated parallel disassembly device to hook down the third pillow spring (33) to the second receiving position (152), and hook down the fourth pillow spring (34) to the first receiving position (151); Controlling the integrated parallel disassembly device to move away from the bogie, driving the third pillow spring (33) and the fourth pillow spring (34) to be transported to other connection stations; S3: remove the left inclined wedge (41), the fifth pillow spring (35) and the seventh pillow spring (37); Controlling the movement of the integrated parallel disassembly device so that the inclined wedge lifting assembly (12) enters the interior of the bogie from the middle position of the bogie and lifts the left inclined wedge (41) from the bottom of the secondary wear surface side of the left inclined wedge (41) until it is separated from the fifth pillow spring (35) nested at the bottom thereof; Controlling the pillow spring first hooking component (13) to hook the fifth pillow spring (35) to the first receiving position (151); Controlling the first side thrust assembly (16) to push the fifth pillow spring (35) to the second receiving position (152); Controlling the pillow spring first hooking component (13) to hook the seventh pillow spring (37) to the first receiving position (151); Controlling the actuator (2) to drive the inclined wedge lifting assembly (12) to lower its position; Controlling the integrated parallel disassembly device to move away from the bogie, driving the left inclined wedge (41), the fifth pillow spring (35), and the seventh pillow spring (37) to be transported to other connection stations; S4: disassembling the right inclined wedge (42), the sixth pillow spring (36) and the ninth pillow spring (39); Controlling the movement of the integrated parallel disassembly device so that the inclined wedge lifting assembly (12) enters the interior of the bogie from the middle position of the bogie and lifts the right inclined wedge (42) from the bottom of the secondary wear surface side of the right inclined wedge (42) until it is separated from the sixth pillow spring (36) nested at the bottom thereof; Controlling the pillow spring second hooking component (14) to hook the sixth pillow spring (36) to the second receiving position (152); Controlling the second side thrust assembly (17) to push the sixth pillow spring (36) to the first receiving position (151); controlling the second hooking component (14) of the pillow spring to hook the ninth pillow spring (39) to the second receiving position (152), Controlling the actuator (2) to drive the inclined wedge lifting assembly (12) to lower its position; Controlling the integrated parallel disassembly device to move away from the bogie, driving the right inclined wedge (42), the sixth pillow spring (36) and the ninth pillow spring (39) to be transported to other connection stations; S5: Remove the eighth pillow spring (38); Controlling the integrated parallel disassembly device to hook the eighth pillow spring (38) to the second receiving position (152); The integrated parallel disassembly device is controlled to move away from the bogie, driving the eighth pillow spring (38) to be transported to other connection stations.

2. The integrated parallel disassembly method of a K6 bogie according to claim 1, characterized in that: The inclined wedge lifting assembly (12) comprises: an inclined wedge lifting member (121), an inclined wedge linear driving mechanism (122) and a rotating mechanism (123); the end of the inclined wedge lifting member (121) is a U-shaped structure, and the opening of the U-shaped structure faces one side; the inclined wedge lifting member (121) is mounted on the rotating mechanism (123), and rotates under the drive of the rotating mechanism (123) to change the direction of the opening of the U-shaped structure; the rotating mechanism (123) is mounted on the inclined wedge linear driving mechanism (122), and the inclined wedge lifting member (121) and the rotating mechanism (123) are driven by the inclined wedge linear driving mechanism (122) to move forward and backward.

3. The integrated parallel disassembly method of a K6 bogie according to claim 2, characterized in that: In the step S3, the integrated parallel disassembly device is controlled to move so that the inclined wedge lifting assembly (12) enters the interior of the bogie from the middle position of the bogie and lifts the left inclined wedge (41) from the bottom of the secondary wear surface side of the left inclined wedge (41) to separate from the fifth pillow spring (35) nested at the bottom thereof, comprising the following steps: Sa1 The control system obtains the information of the current wedge to be removed, Sa2 The control system controls the rotation of the rotating mechanism (123) of the inclined wedge lifting assembly (12) to control the opening of the U-shaped structure of the inclined wedge lifting member (121) to face the left inclined wedge (41) to be removed; Sa3 The control system controls the actuator (2) to drive the disassembly device (1) to move to the left inclined wedge disassembly standard posture I, and the inclined wedge lifting member (121) faces the middle position of the bogie; Sa4: the control system controls the inclined wedge linear pushing mechanism (122) to move forward, driving the inclined wedge lifting member (121) to extend into the middle empty space inside the bogie, and reaching the left inclined wedge disassembly standard posture II, at which the opening of the U-shaped structure of the inclined wedge lifting member (121) faces the side of the left inclined wedge (41), and the upper surface of the U-shaped structure is slightly lower than the bottom groove surface of the left inclined wedge (41); Sa5: the control system controls the actuator (2) to move the inclined wedge lifting member (121) from the side toward the left inclined wedge (41) to reach the left inclined wedge disassembly standard posture III, at which the U-shaped structure of the inclined wedge lifting member (121) contacts the bottom groove surface of the left inclined wedge (41); Sa6 The control system controls the actuator (2) to move upward, and lifts the left inclined wedge (41) through the inclined wedge lifting member (121), so that the left inclined wedge (41) is separated from the fifth pillow spring (35) nested at the bottom; The left-slanted wedge disassembly standard posture I, the left-slanted wedge disassembly standard posture II and the left-slanted wedge disassembly standard posture III constitute a left-slanted wedge standard disassembly posture set.

4. The integrated parallel disassembly method of a K6 bogie according to claim 1, characterized in that: The step S1 of disassembling the first pillow spring (31) and the second pillow spring (32) specifically comprises the following method: S1.1 the control system obtains information of the first pillow spring (31) and the second pillow spring (32) to be disassembled; S1.2 The control system controls the actuator (2) to drive the disassembly device (1) to a standard disassembly posture corresponding to the first pillow spring (31) and the second pillow spring (32) to be disassembled, so that the first receiving position (151) is aligned with the first pillow spring (31) to be disassembled, and the second receiving position (152) is aligned with the second pillow spring (32) to be disassembled; S1.3 the control system controls the connecting spring assembly (15) to move to a first row of pillow spring receiving positions where the first pillow spring (31) and the second pillow spring (32) to be removed are located; S1.4 The control system controls the first hooking assembly (13) of the pillow spring and the second hooking assembly (14) of the pillow spring to extend to the hooking positions of the first pillow spring (31) and the second pillow spring (32) to be disassembled, respectively, and synchronously hooks the first pillow spring (31) and the second pillow spring (32), the first receiving position (151) receiving the hooked first pillow spring (31), and the second receiving position (152) receiving the hooked second pillow spring (32); S1.5 The control system controls the spring assembly (15) to be retracted to a waiting position of the disassembly device (1); S1.6 The control system controls the actuator (2) to drive the disassembly device (1) away from the bogie, and drives the first pillow spring (31) and the second pillow spring (32) received by the connecting spring assembly (15) to be transported to other connecting stations.

5. The integrated parallel disassembly method of a K6 bogie according to claim 1, characterized in that: The step S2 is to disassemble the third pillow spring (33) and the fourth pillow spring (34), and specifically comprises the following method: S2.1 the control system obtains information of the third pillow spring (33) and the fourth pillow spring (34) to be removed; S2.2 The control system controls the actuator (2) to drive the disassembly device (1) to a standard disassembly posture corresponding to the third pillow spring (33) and the fourth pillow spring (34) to be disassembled, so that the first receiving position (151) is aligned with the fourth pillow spring (34) to be disassembled, and the second receiving position (152) is aligned with the third pillow spring (33) to be disassembled; S2.3 the control system controls the connecting spring assembly (15) to move to the first row of pillow spring receiving positions where the third pillow spring (33) to be removed is located; S2.4 the control system controls the second hooking assembly (14) of the pillow spring to extend to the hooking position of the third pillow spring (33) to be disassembled, hooking the third pillow spring (33), and the second receiving position (152) receives the hooked third pillow spring (33); S2.5 the control system controls the connecting spring assembly (15) to move to the second row of pillow spring receiving positions where the fourth pillow spring (34) to be removed is located; S2.6 The control system controls the first hooking assembly (13) of the pillow spring to extend to the hooking position of the fourth pillow spring (34) to be disassembled, hooking the fourth pillow spring (34), and the first receiving position (151) receives the hooked fourth pillow spring (34); S2.7 the control system controls the spring assembly (15) to be retracted to a waiting position of the disassembly device (1); S2.8 The control system controls the actuator (2) to drive the disassembly device (1) away from the bogie, and drives the third pillow spring (33) and the fourth pillow spring (34) carried by the connecting spring assembly (15) to be transported to other connection stations.

6. The integrated parallel disassembly method of a K6 bogie according to any one of claims 1 to 3, characterized in that: The step S3 of disassembling the left inclined wedge (41), the fifth pillow spring (35) and the seventh pillow spring (37) specifically comprises the following method: S3.1 controlling the integrated parallel disassembly device to move so that the inclined wedge lifting assembly (12) enters the interior of the bogie from the middle position of the bogie and lifts the left inclined wedge (41) from the bottom of the secondary wear surface side of the left inclined wedge (41) until it is separated from the fifth pillow spring (35) nested at the bottom thereof; S3.2 the control system obtains information of the fifth pillow spring (35) and the seventh pillow spring (37) to be removed; S3.3 the control system controls the connecting spring assembly (15) to move to the second row of pillow spring receiving positions where the fifth pillow spring (35) to be removed is located; S3.4 the control system controls the first hooking assembly (13) of the pillow spring to extend to the hooking position of the fifth pillow spring (35) to be disassembled, hooking the fifth pillow spring (35), and the first receiving position (151) receives the hooked fifth pillow spring (35); S3.5 the control system controls the spring assembly (15) to be retracted to a waiting position of the disassembly device (1); S3.6 the control system controls the first side thrust assembly (16) to push the fifth pillow spring (35) from the first receiving position (151) to the second receiving position (152); S3.7 The control system controls the connecting spring assembly (15) to move to the third row of pillow spring receiving positions where the seventh pillow spring (37) to be removed is located; S3.8 controlling the first hooking assembly (13) of the pillow spring to extend to the hooking position of the seventh pillow spring (37) to be disassembled, hooking the seventh pillow spring (37), and the first receiving position (151) receiving the hooked seventh pillow spring (37); S3.9 the control system controls the spring assembly (15) to be retracted to a waiting position of the disassembly device (1); S3.10 the control system controls the actuator (2) to drive the inclined wedge lifting member (121) to lower its position, thereby removing the left inclined wedge (41) from the bolster groove; S3.11 The control system controls the actuator (2) to drive the disassembly device (1) away from the bogie, and drives the left inclined wedge (41), the fifth pillow spring (35) and the seventh pillow spring (37) to be transported to other docking stations.

7. The integrated parallel disassembly method of a K6 bogie according to claim 1, characterized in that: The pillow spring first hook-down assembly (13) is composed of a pillow spring hook-down mechanism (131) and a pillow spring linear push mechanism (132); the pillow spring hook-down mechanism (131) is installed on the pillow spring linear push mechanism (132) and moves forward and backward under the drive of the pillow spring linear push mechanism (132).

8. The integrated parallel disassembly method of a K6 bogie according to claim 1, characterized in that: The connecting spring assembly (15) is composed of an integrated receiving mechanism consisting of the first receiving position (151) and the second receiving position (152), and a connecting spring linear driving mechanism (153); the integrated receiving mechanism is mounted on the connecting spring linear driving mechanism (153) and moves forward and backward in and out of the bogie under the drive of the connecting spring linear driving mechanism (153).

9. The integrated parallel disassembly method of a K6 bogie according to claim 1, characterized in that: The first side-pushing assembly (16) comprises a pushing mechanism (161) and a side-pushing module (162); the side-pushing module (162) is connected to the pushing mechanism (161) and moves left and right under the pushing of the pushing mechanism (161).

10. The integrated parallel disassembly method of a K6 bogie according to claim 1, characterized in that: A camera (18) is also installed at the front end of the frame (11), and the camera (18) is used to collect the position and posture information of the bogie, calculate the position and posture difference of the bogie through recognition and positioning software, and then control the actuator (2) to be disassembled in a standard disassembly posture relative to the bogie.

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